Analysis of singularity planar multi-linkage mechanism of fourth order
The planar multi-linkage mechanism of the fourth order, the output rocker of which implements an approximate stopping in one critical position is described in the article. The mechanism consists of three dyads passing through their limit positions in a single duty cycle. That is why the singular...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education
2020-11-01
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| Series: | Омский научный вестник |
| Subjects: | |
| Online Access: | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2020/5%20(173)/17-21%20%D0%93%D0%B5%D0%B1%D0%B5%D0%BB%D1%8C%20%D0%95.%20%D0%A1..pdf |
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| Summary: | The planar multi-linkage mechanism of the fourth order, the
output rocker of which implements an approximate stopping in
one critical position is described in the article. The mechanism
consists of three dyads passing through their limit positions
in a single duty cycle. That is why the singularity problem is
relevant for such mechanisms and should be studied to avoid
jamming of links or the appearance of uncontrolled movements.
The mathematical model is based on the theory of screws and
contains the closed-loop equilibrium equations obtained for the
investigated mechanism. Based on the obtained results of the
geometry and singularity analyses, it is shown that there are eight
different positions in which some joints stop momentarily and
then their angular velocity direction changes. |
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| ISSN: | 1813-8225 2541-7541 |